Planetary-harmonic motor

ABSTRACT

A motor suitable for use in a medical imaging environment has (a) a centrally located means for actuating a radial wave, (b) a deformable flexspline having an inner surface and a toothed outer surface, with the flexspline coaxially aligned with the central axis of the radial wave actuating means and oriented such that the flexspline inner surface is proximate the outer boundary surface of the actuation means, and with the flexspline toothed outer surface having a first specified number of teeth, and (c) a circular spline having a toothed inner surface, this spline having an outer boundary surface and being coaxially aligned with the central axis and oriented such that the spline toothed inner surface is proximate the flexspline&#39;s toothed outer surface, with the spline inner surface having a second specified number of teeth which is different than the first specified number of teeth in the flexspline, wherein the actuation means is operable so that the action of its radial wave causes at least one of the flexspline teeth to engage at a point the toothed side of the circular spline in such a manner that an engagement point passes as a wave around the inner perimeter of the circular spine, with the movement of this engagement point causing the flexspline to rotate around its central axis.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional PatentApplication No. 60/411,906, filed Sep. 19, 2002 by Dan Stoianovici andLouis R. Kavoussi.

STATEMENT AS TO FEDERALLY SPONSORED RESEARCH

This invention was made with Government support under Grant No. 1 R21CA88232-01A1 and entitled “Multi-Imager Compatible Robot For ProstrateAccess,” which was awarded by the National Institute of Health. TheGovernment may have certain rights in this invention.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates to motors that provide rotary motion. Moreparticularly, one embodiment of the present invention relates to a motorwhich is constructed from materials that can be used in all classes ofmedical imaging equipment and that generates precise, high torque,backlash-free rotary motion without using electricity.

2. Description of Prior Art

Noninvasive, diagnostic imaging techniques, such as ultrasound, x-rayand magnetic resonance imaging (MRI) are widely used in medicine. Theyare used to produce cross-sectional images of a patient's organs andother internal body structures.

MRI typically involves the patient lying inside a large, hollow cylindercontaining a strong electromagnet, which generates a strong and uniformmagnetic field that causes the electrons in a patient's body to spin ina uniform and predictable manner. The MRI equipment can then manipulatethe spinning electrons and use the resulting information to generate animage of the inside of a patient's body.

However, difficulties are encountered in obtaining accurate images whendisruptions and deflections in the magnetic field are experienced due tothe presence in the field of materials that produce a magnetic fieldand/or are susceptible to producing their own magnetic fields whenplaced within an external magnetic field.

One source of magnetic field distortion can be equipment such as motorsthat are in the vicinity of the MRI machine. Motors are generally formedwith materials that produce a magnetic field. Examples of such materialsthat are commonly used in motors include iron and brass. Thus, whenplaced in the field generated by the MRI machine, the motors can causeartifacts in the image of the patient's body.

Other forms of medical imaging (e.g., x-ray and ultrasound imagers) arealso seen to have similar problems of distortions in their output imagesdue to the presence of motors in the vicinity of the imaging equipment.

Prior attempts to provide a motor that can be used in such imagingenvironments have involved the use of piezoelectric elements to providethe motor's power. See U.S. Pat. Nos. 5,233,257 and 6,274,965.

Despite these efforts, there still exists a need for improved motorsthat can be placed near medical imaging equipment with minimal risk ofcreating artifacts. There is a related need for a motor that does notproduce a magnetic field. There is yet another need for a motor that hasa low susceptibility of being induced to produce a magnetic field.Additionally, there is a need for a rotary motor of the type that is notpowered by electricity.

3. Objects and Advantages

There has been summarized above, rather broadly, the prior art that isrelated 8 to the present invention in order that the context of thepresent invention may be better understood and appreciated. In thisregard, it is instructive to also consider the objects and advantages ofthe present invention.

It is an object of the present invention to provide a rotary motor thatcan be used for medical applications which require the motor to belocated in or in close proximity to medical imaging equipment.

It is another object of the present invention to provide a rotary motorthat can be used in a surgical environment.

It is yet another object of the present invention to provide a motorthat can provide precise, high torque, backlash-free rotary motion.

It is still another object of the present invention to provide a rotarymotor that does not utilize electrical power or electrical componentsfor operation.

It is a further object of the present invention to provide a preciserotary motor whose motion can be monitored by sensors located at a sitethat is distant from the location of the motor itself.

It is an object of the present invention to provide a rotary motor thatcan be powered by other than electrical means.

These and other objects and advantages of the present invention willbecome readily apparent as the invention is better understood byreference to the accompanying summary, drawings and the detaileddescription that follows.

SUMMARY OF THE INVENTION

Recognizing the medical needs for the development of a precise rotarymotor that can be used in medical imaging environments, the presentinvention is generally directed to satisfying the needs set forth above.In accordance with the present invention, the foregoing need can besatisfied by providing an especially designed motor that is suitable foruse in a medical imaging room.

In a preferred embodiment, such a motor has: (a) a centrally locatedmeans for actuating a radial wave, (b) a deformable flexspline having aninner surface and a toothed outer surface, with the flexspline coaxiallyaligned with the central axis of the radial wave actuating means andoriented such that the flexspline inner surface is proximate the outerboundary surface of the actuation means, and with the flexspline toothedouter surface having a first specified number of teeth, (c) a circularspline having a toothed inner surface, the spline having an outerboundary surface and being coaxially aligned with the central axis andoriented such that the spline toothed inner surface is proximate theflexspline's toothed outer surface, with the spline inner surface havinga second specified number of teeth which is different than the firstspecified number of teeth in the flexspline, wherein the actuation meansis operable so that the action of its radial wave causes at least one ofthe flexspline teeth to engage at a point the toothed side of thecircular spline in such a manner that an engagement point passes as awave around the inner perimeter of the circular spine, with the movementof this engagement point causing the flexspline to rotate around itscentral axis.

In a preferred embodiment, this radial wave actuating means has: (a) acentral ring having an outer, boundary surface and a center point, (b) aplurality of diaphragm pistons, each having a fluid containing cavity,(c) a diaphragm that covers each piston's and top action surface, withthese pistons being mounted along the perimeter of the ring's boundarysurface so that their action surfaces move radially as the amount offluid in the cavities is increased, (d) a coaxially aligned planetarygear having an inner surface and a toothed outer surface with a firstspecified number of teeth, (e) a wave generator gear having an outersurface and a toothed inner surface and oriented such that the wavegenerator toothed inner surface is proximate the planetary gear'stoothed outer surface, with the wave generator gear having a second,specified number of teeth which is different than the planetary gear'sfirst specified number of teeth, and (f) a ring bearing whose innersurface is proximate the wave generator gear outer surface.

In another preferred embodiment, such a motor has: (a) a central ring,(b) a plurality of diaphragm pistons, each having a fluid containingcavity, a diaphragm that covers the cavity and a top action surface,with the pistons being mounted along the perimeter of the ring boundarysurface and configured so that their action surfaces move radially fromthe ring's center point as the amount of fluid in the cavities isincreased, (c) a coaxially aligned planetary gear having an innersurface and a toothed outer surface with a first specified number ofteeth, (d) a coaxially aligned inner gear having an outer surface and atoothed inner surface and oriented such that the inner gear's toothedsurface is proximate the planetary gear's toothed surface, with theinner gear having a second, specified number of teeth which is differentthan the first specified number of teeth in the planetary gear, and (e)a ring bearing whose inner surface is proximate the inner gear outersurface, wherein by a specified flow of fluid through the pistons theplanetary gear is caused to move relative to the ring center point sothat a portion of the planetary gear outer surface contacts the innersurface of the inner gear in such a manner that at least one of theplanetary gear teeth engages at a point the toothed side of the innergear in such a manner that the engagement point passes as a wave aroundthe inner perimeter of the inner gear, this movement of the engagementpoint causing the inner gear to rotate around the ring center point.

Thus, there has been summarized above, rather broadly, the presentinvention in order that the detailed description that follows may bebetter understood and appreciated. There are, of course, additionalfeatures of the invention that will be described hereinafter and whichwill form the subject matter of any eventual claims to this invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B illustrate the operation of a pair of coupled hydrauliccylinders for remotely actuating a linear motion.

FIG. 2 illustrates the operation of three sets of coupled hydrauliccylinders for remotely actuating a rotary motion.

FIGS. 3A and 3B illustrate the use of rollers and a cam bearing forconnecting the piston rods of the hydraulic cylinders shown in FIG. 2with an elliptical drive cam.

FIG. 4 illustrates the components of and principle of operation of astandard harmonic drive gear.

FIG. 5 is a plan view of a preferred embodiment of the harmonic motor ofthe present invention which utilizes an elliptical bearing or wavegenerator that is driven by hydraulic cylinders that are sequentiallyoperated.

FIG. 6 is a plan view of a “radial wave actuator” for a preferredembodiment of the present invention, wherein this actuator replaces theelliptical, wave generator of FIG. 5 with sequentially activated pairsof diaphragms that directly deform the flexspline.

FIG. 7 is a plan view of a “tangential wave actuator” for a preferredembodiment of the present invention, wherein this actuator replaces theelliptical wave generator of FIG. 5 with sequentially activated groupsof inflatable cylinders that deform a wave generator ring that drivesthe flexspline.

FIGS. 8A and 8B presents a side view and a cross sectional view of aharmonic planetary motor embodiment of the present invention.

FIG. 9 shows an illustration of the pump that is used to drive aharmonic planetary motor.

FIGS. 10A and 10B presents a side view and a cross sectional view of aplanetary motor embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Before explaining at least one embodiment of the present invention indetail, it is to be understood that the invention is not limited in itsapplication to the details of construction and to the arrangements ofthe components set forth in the following description or illustrated inthe drawings. The invention is capable of other embodiments and of beingpracticed and carried out in various ways. Also, it is to be understoodthat the phraseology and terminology employed herein are for the purposeof description and should not be regarded as limiting.

In general, the present invention relates to motors that are made withmaterials that have low magnetic susceptibility and produces minimal, ifany, magnetic fields. For example, materials such as plastics, glass,ceramics, rubbers, etc.

The invention of the present invention is based on two principles oftransmission: (a) the coupled, fluid actuated pistons or cylinders forsupplying linear motion at a remote location, and (b) the harmonic drivetransmission for providing extremely precise, zero-backlash speedreduction capabilities.

Two versions of the coupled, fluid actuated pistons are schematicallyrepresented in FIG. 1A and IB. The “double acting” method presented inFIG. 1A includes two cylinders connected port-to-port on their similarsides by two closed circuits. The fluid agent inside these circuitscould be either pneumatic or hydraulic. An external force applied on therod of the “pump cylinder” is transmitted through the compression of theagent into linear force at the piston of the “motor cylinder”, like inthe braking system of cars.

The force transmission ratio of the motor-pump cylinder coupling may beexpressed as: $\begin{matrix}{{{Force}\quad{Transmission}\quad{Ratio}} = {T = {\frac{F_{m}}{F_{p}} = {\frac{S_{M}}{S_{P}} = \frac{S_{m}}{S_{p}}}}}} & {{Equation}\quad 1}\end{matrix}$where, F_(m) and F_(p) are the forces acting on the motor and pump rodsrespectively, and S_(M), S_(m), S_(p) are the surface areas on the sidesof both pistons, as represented in FIG. 1. Scaling may be achieved byusing different cylinder sizes for the pump and motor.

Using an incompressible agent (hydraulic actuation case) and consideringthat the system operates at low pressure levels for which thedeformation of the hydraulic circuit is negligible, the displacementratio may be expressed as the inverse of the force ratio:$\begin{matrix}{\frac{x_{m}}{x_{p}} = \frac{1}{T}} & {{Equation}\quad 2}\end{matrix}$where, x_(m) and x_(p) are the displacements of the motor and pumppistons, respectively. Equation 1 also reveals the size constraint ofthe cylinders in order to match the volumes displaced on both sides ofthe piston chambers.

The “spring return” principle presented in FIG. 1B is similar but uses asingle connection line between the cylinders thus reducing to half thenumber of conduits required. This can be significant in the case ofmultiple motors. The back draw is the limitation and variability offorce in one direction given by the spring (of elastic constant k ) usedin the motor cylinder: $\begin{matrix}{F_{m} = { {F_{p} - F_{s}}\Rightarrow T  = \frac{F_{p} - {k\quad x_{m}}}{F_{p}}}} & {{Equation}\quad 3}\end{matrix}$

Several characteristics of the cylinder coupling actuation principle areessentially related to medical imaging compatibility:

-   -   (a) The scheme allows for the operation of the motor cylinder        from a remotely located pump cylinder. This allows the motor        located in the imaging field to be operated from a pump located        in a control room.    -   (b) The simplicity of the motor allows for its construction of        imaging environment compatible materials. The fluid agent used        is also nonrestrictive.    -   (c) The motion of the motor rod can be predicted by measuring        motion at the pump. Accuracy of measurement is increased by        using hydraulic agent (incompressible) and low expandability        circuitry. This eliminates the need of performing complicated        motion encoding in close proximity of the imaging field.

These characteristics show that this remote actuation principle is wellsuited for performing linear motion actuation in a medical imagingenvironment. The method may also be extrapolated for rotary motion, aspresented next.

Rotational output may be achieved by using at least three coupledpistons or cylinders engaging an elliptical shaft as presented in FIG.2. In this schematic three sets of cylinders 3-6, 4-7, and 5-8 arelinearly coupled as presented in the previous section. The cylinders areequally spaced around the elliptical cams 1 and 2 of the pump 60 andmotor 70 respectively. Rotating the cam 1 of the pump causes the pistons3, 4, and 5 to move, engaging their coupled pistons 6, 7, and 8respectively, thus turning the motor cam 2. In this way, the pump andthe motor shafts are coupled, so that ideally their rotation angles areequal Θ_(m)=Θ_(p). Proper design of the cams and cylinder sizes ensurethat the volume in the hydraulic circuits remains constant for any pumpΘ_(p) and motor Θ_(m) rotation angles.

As for the cylinder coupling for linear motion, an incompressible fluidis required in order to achieve high accuracy of motion since rotationalprecision is directly related to the linear precision of the pistons. Alow compressibility fluid is also required for high speed operation.This also allows for performing remote measurement of the motor shaftrotation using a pump encoder.

A stepper pneumatic motor could be achieved by replacing the pumparrangement presented in FIG. 2 with a simple pneumatic source anddistributor that successively pulse pressurizes the three pistons of themotor, much like a radial engine used in old propeller airplanes.

The cam pump presented in FIG. 2 can also be replaced by (at least)three cylinders operated independently by linear drives such as voicecoils. These should be synchronized and optimized for maximum dynamicperformance under computer control.

In all cases, tight seal cylinders should be used since agent leakagewould degrade kinematic performance. For this reason the use ofdiaphragm cylinders is recommended over the piston type. Diaphragmcylinders are also suitable since the stroke required is relativelysmall and such cylinders can be easily made of medical imagingcompatible materials.

Remote position sensing can also be achieved with this couplingprinciple. For a theoretically zero driven torque, the pump and motorrotations are in phase. The phase shift Φ depends on the load connectedto the motor shaft. This can be quantified by monitoring line pressures(P₁, P₂, P₃,K) and then used to evaluate the phase shift, thus:Θ_(m)=Θ_(p)−Φ(P ₁ ,P ₂ ,P ₃ ,K)   Equation 4

This is essentially important for applications in which encoding of themotor shaft is not feasible or difficult to implement, as for medicalimaging environment applications.

The disadvantage of this principle is related to the sliding of thepiston ends on the elliptical cams during motion, which induces slidingfriction at the contact surfaces thus reducing mechanical performanceand causing wear. Design implementations of this principle require theinclusion of either rollers 9 at the end of the pistons or preferably aseries of ball bearings 10 mounted on the perimeter of the cam. SeeFIGS. 3A and 3B.

A harmonic drive transmission is a rotational-rotational transmissionimplementing torque coupling with concentric elements. A radial, ratherthan a rotation, tooth mesh is created by flexing one element to createan inward and outward, radial tooth motion, which allows a spline-liketooth engagement.

A harmonic drive transmission's precision and efficiency make itsuitable for accurate positioning and precise motion control. The basicprinciple of the harmonic drive is illustrated in FIG. 4. It presentsthree basic elements: A rigid circular spline or the internal gear 11, aflexspline represented by the thin gear 12, and an elliptical wavegenerator 13 which is surround by a ball bearing 10 having inner 10 aand outer 10 b races. Commonly, the input is applied to the wavegenerator 13. The output is either the circular spline 11, asrepresented in FIG. 4, in which the flexspline 12 and the generator 13are grounded, or vice versa (11 grounded and 12 output).

The circular spline 11 has an even number of internal teeth (N_(S)), iscircular, and rigid. The flexspline 12 also presents an even number ofteeth (N_(F)), but fewer than the spline (typically N_(F)=N_(S)−2),presents a thin cross-section, and is constructed of flexible materialsso that it can be deformed to an oval shape by the wave generator 13.The wave generator is an elliptical bearing presenting a major axis 14and a minor axis 15. The teeth engage at the major axis and are fullydisengaged at the minor axis. The flexspline 12 is deformed by thebearing 10 to an elliptical shape changing its orientation with therotation of the inner ring of the bearing, the drive input, thusrotating the axes of the ellipse. This causes the gear engagement regionto rotate in phase with the input. Since the flexspline 12 has(N_(S)-N_(F)) fewer teeth than the circular spline 11, one revolution ofthe input causes a relative motion of N_(S)-N_(F) teeth between them.For the common case of two teeth difference, the output rotates onetooth-arc for each 180° of input rotation. In general, the transmissionratio of the harmonic drive can be expressed as: $\begin{matrix}{T = {\frac{\omega_{W}}{\omega_{S}} = \frac{N_{S}}{N_{S} - N_{F}}}} & {{Equation}\quad 5}\end{matrix}$

If the spline 11 is considered the base, the direction of the outputω_(S) is reversed with respect to the input ω_(W).

Equation 5 shows that the harmonic drive exhibits high transmissionratios from 50:1 and up. Preload in the direction of the major axis andalmost pure radial tooth engagement allow harmonic drives to operatewith low or zero backlash for long duty cycles, without preloadadjustments or significant wear. Reliability and life are also high.Since torque is transmitted by pure coupling, the efficiency of thetransmission is normally in the 80-90% range. The gearing design ensuresthat approximately 10% of the total teeth are engaged at any rotation,minimizing the effect of tooth-to-tooth error, thus rendering excellentpositioning accuracy and repeatability.

The above characteristics make the harmonic drive an ideal candidate forprecision surgical robotics. In addition, the presence of the ellipticalwave generator 13 readily associates functionality with the ellipticalcoupling presented above, especially for the cam bearing case presentedin FIG. 3B.

One embodiment of the present invention merges the principles ofelliptical coupling and harmonic drive by using cylinder couplings toactuate a wave generator or actuator to act as what is herein referredto as a harmonic motor. A first embodiment is shown in FIG. 5.

Pistons 6, 7, and 8 act on the outer race of the bearing 10, similar tothe principle presented in FIG. 3B. The wave generator 13 is rotated bysequential pulsing of the pistons, either by using an elliptical pumparrangement or by pumps actuated independently. A set of mirroredcylinders may also be respectively connected on the same fluid circuitsfor reducing radial load.

The main difference compared to the harmonic drive disclosed herein isthat the input energy is given by the fluid of the pistons and not arotational input, thus rendering a rotary motor rather than atransmission. The motor inherits the mechanical performance of thecylinder coupling and harmonic drive, making it optimally suited forprecision actuation and medical imaging compatibility.

The harmonic motor is also safe to use in surgical applications,especially when driven by a hydraulic agent such as distilled water oreven saline. All hydraulic circuits are closed and can be made leakproof by using diaphragm cylinders. The fluid pulses back and forth inthe circuits and the system may be operated at low pressures. Should ahydraulic circuit fail, the motor stalls. Moreover, the drive can bemade backlash free and it is non-backdrivable if the pump isnon-backdrivable.

Another embodiment of the present invention, the “static wave actuatorversion of the harmonic motor,” presents simpler construction andminimizes the number of moving elements by replacing the ellipticalbearing 10 with an arrangement of cylinders which act as a active wavegenerator. The flexspline remains fixed but its oval shape isdynamically driven by cylinder couplings. Two types of wave actuatorsare defined based on the direction that the cylinders act, radial andtangential.

FIG. 6 presents a schematic of the radial wave actuator and theflexspline 12. For simplicity the rigid, circular spline 11 has not beenrepresented in this schematic being similar to the one represented inFIG. 5.

The radial wave actuator comprises a flexible outer ring 19, a series ofat least six diaphragm cylinders 6, 7, 8, 16, 17, 18 and a rigidcylinder ring 20 or platform. The flexspline 12 and the outer ring 19are assembled or even constructed of in single part. Pairs of oppositecylinders are linked on the same fluid circuits connecting the radialwave actuator to a sequential pump through the ports 21, 22, and 23.

In unpressurized state the flexspline-outer ring assembly exhibitscircular shape concentric with the cylinder ring 20. When pressure isapplied in a circuit the flexspline 12 is deformed along the directionof the pressurized cylinders causing the gear teeth to engage in thatdirection. FIG. 6 represents the wave actuator pressurized in port 21inducing an oval shape spline with 14 and 15 as major and minor axesrespectively.

The other two circuits rotate the major elliptical axis to theirrespective directions. The three 120° spaced axes of the cylinders areprimary axes and their number directly determines the precision ofmotion. However, increasing the number of the cylinder pairs haspractical limitations and significantly increases complexity.

The following method allows for doubling the number of axes for the samenumber of cylinders. The method is based on the observation that if athin ring is pushed from inside out on opposite sides, it deformsaligning the major axis in that direction. But if the ring is squeezedin the same places, the major axis is reversed 180°. Thus, by pullingthe diaphragms inward (rather then pushing outward) a new set ofsecondary axes is created normal to the primary ones, as represented inFIG. 6.

To avoid operating below the atmospheric pressure (for pulling), thediaphragms are preloaded so that in unpressurized state they exertelastic pull on the outer ring 19. This shifts the operating point aboveatmospheric pressure in a similar way that spring return pistonsoperate. This simple method uses the elasticity of the diaphragm inplace of the classic return spring. Reducing the pressure below thecentral operating point causes the flexspline to engage at the secondaryaxis.

By independently operating each circuit the major axis can be orientedalong any of the primary and secondary axes. With careful design of thesequential pump, coupled operation of the cylinders can orient theellipse in arbitrary orientations providing smooth and precise motion ofthe rigid spline output.

Diaphragm cylinders are well suited for this application not only fortheir leak proof operation but also for implementing the spring return.For this reason the diaphragm should be manufactured of materials withgood elastic properties. Moreover, as it can be easily observed in theexaggerated oval shape of FIG. 6, during motion the piston and cylinderaxes lose coaxially. Thus, compliant (elastic) diaphragms are alsoaccommodating this misalignment.

A schematic of another embodiment of the present invention in the formof a tangential wave actuator with a flexspline 12 is presented in FIG.7. For simplicity the rigid, circular spline 11 has not been representedbeing similar to the one represented in FIG. 5. The tangential waveactuator comprises a special flexible wave ring 24 and a series oftwelve inflatable cylinders 25 a-25 l (at least six inflatable cylindersare required). The flexspline 12 and the wave ring 24 are assembled sothat relative tangential slipping is unrestricted at their points ofcontact. Pairs of four opposite cylinders are connected on the samefluid circuits connecting the actuator to a sequential pump through theports 21, 22, and 23.

The wave generator ring 24 has a special construction presenting twelveequally spaced lobes 24 a-24 1 attached to a thin and elastic innerstructure or membrane 26. Semi-cylindrical cavities 27 a-27 l arecreated between adjacent lobes for placing the inflatable cylinders(pillows) 25 a-25 l. The outer surface of the lobes is constructed ofelliptical surface that matches the region at the major axis of theflexspline ellipse.

Actuated oval shape of rotating major 14 and minor 15 axes is induced bysequentially pressurizing the inflatable cylinders 25 a-25 l. Whenpressure is applied to a circuit, opposite groups of inflatable pillowsexpand enlarging the gap between adjacent lobes. This deforms the wavegenerator ring to an oval shape with the major axis aligned in thedirection of the pressurized axis. The orientation of the major axis isthen rotated by sequential and coupled operation of the three circuits.

A hollow shaft cylindrical construction is common for the harmonic motorof the present invention. This allows for mounting and/or passing thefluid circuit tubing for the inflatable cylinders through the inside ofthe motor.

In a prototype version of a harmonic motor with a tangential waveactuator, the rigid spline 11, the flexspline 12, and the wave generator24 are constructed of plastic materials. The inflatable cylinders 25 aresilicone rubber tubes with closed ends, which have been connected inthree groups of circuits using ⅛″ ID PVC tubing. The harmonic driveusing a 100 teeth rigid spline and a 98 teeth flexspline implements a50:1 transmission. The motor presents a hallow shaft, cylindrical shape.The overall size of the motor is 60 mm×25 mm with a 25 mm bore and itweighs only 50 g.

Prototype versions of the present invention's harmonic motors have beenthoroughly tested to ensure that they are compatible with a wide rage ofmedical imaging environments. These motors have proven themselves to bethe first Zone 1 multi-imager compatible motors. That is, the motor canprecisely operate within the imager field of any known class of imagingequipment while the imager is acquiring images. This includes the classof MR imagers for which all existing types of motors (electric,piezoelectric, ultrasonic) are either incompatible or can not be set inclose proximity of the magnetic field, operational or not. Allpreviously reported MRI compatible robots inhabit MRI Zone 4 (one meterfrom iso-center or beyond the 20 mTesla line) and, in consequence, havelimited manipulation ability within Zones 1 and 2.

FIGS. 8-9 show another of the preferred embodiments of the presentinvention. This embodiment is referred to herein as a harmonic planetarymotor. It uses pneumatic/hydraulic pressure pulses to generate precise,backlash-free rotary motion.

As shown in the side and sectional views of FIGS. 8A and 8B, the centralpart of this embodiment is a cylinder body 29 presenting three radialcylinders 30. Three diaphragm 31 pistons 32 having top action surfaces32a are attached to the cylinder body with the cylinder caps 33. Eachcylinder is pressurized through a nozzle 34 linked to a port 35. Thepistons are attached with the screws 36 to a rigid planetary gear 37engaging an internal or wave generator gear 38.

The outer surface 39 of the wave generator gear 38 is elliptical actingas a wave generator for the next motion stage, the harmonictransmission. A ring bearing 40 with rollers 41 and a cage 42 actsbetween the outer surface 39 of the gear 38 and the inner surface 43 ofthe flexspline 12. The rigid spline 11 is attached to the case 44 of themodule. The output of the motor is taken from the flexspline 12 througha passive spline 45 presenting an internal rigid spline.

This motor operates by fluid pressure being sequentially applied on thethree diaphragm pistons 32 using a remotely located pneumatic/hydrauliccommutation mechanism. This engages the planetary gear 37 in a coupledmotion around the cylinder body 29, thus engaging the rigid wavegenerator gear 38. The planetary gear 37 does not rotate but ratherbalances on a round trajectory around the cylinder 29 in aquasi-translational motion, its rotation being prevented by thediaphragm 31 connections to the cylinder base 29.

For each full pressure cycle the wave generator gear 38 rotates with onetooth angle, assuming that the difference in the number of teeth in theplanetary and wave generator gears is one. This rotation is furtherdemultiplied through the combined action of the surrounding flexspline12 and spline 11 so that the output of the module rotates through aspline tooth angle for each half turn of the wave generator 38, assumingthat the difference in the number of teeth between the spline andflexspline two.

This motor assembly is constructed of nonmagnetic and dielectricmaterials such as mica-glass and toughened zirconia ceramics, polyimideplastics, and Buna-N rubber. Six small custom-made titanium screws 36are also used.

The planetary gear 37 in this assembly is constructed such that it hasone more tooth than the wave generator gear 38. Thus when the perimeterof the planetary gear 37 is caused to effectively walk the contact pointwith the wave generator's inner surface for a complete 360 degreerevolution, the wave generator will advance through an angular rotationthat is equal to 360 degrees divided by the number of teeth in the wavegenerator.

In this situation we have a harmonic planetary motor that acts to rotatea harmonic drive gear consisting of the circular spline 11, flexspline12, and a wave generator 38. One of the advantages of this configurationis the higher degree of precision that can be obtained in controllingthe angular output that is experienced in the rotation of theflexspline. The magnitude of the output is seen to be:$\alpha_{OUT}^{360} = {\frac{360}{N_{WG}}\frac{( {N_{RS} - N_{FS}} )}{N_{RS}}\quad{degrees}}$where, N_(WG),N_(PG),N_(RS),N_(FS),N_(PS) are the number of teeth forthe wave generator 38, planetary gear 37, rigid spline 11, flex-spline12, and a passive spline respectively, and where:N _(WG) =N _(PG)−1N _(RS) =N _(FS)+2N_(PS)=N_(FS)

FIG. 9 shows an illustration of the pump that is used to drive theharmonic motor of the present invention. In this situation, a pressurecommutation mechanism is provided by three computer-controlled,proportional pneumatic valves generating a sequence of three sinusoidalwaves of 120° phase shift. Such hydraulic actuation is capable of higherspeed performance due to the incompressibility of the agent, and is alsosafer for surgical applications. The pump 46 comprises a cam 47 ofcylindrical outer surface eccentrically mounted on a rotating shaftactivated by the electric motor 48 through a bevel gear transmission.The inner part 49 of the cam presents a special shape (somewhatelliptical) so that two rollers 50 and 51 can simultaneously roll on theinner and outer sides of the cam implementing a dual acting (push-pull)piston stroke. The rotation of the cam causes the pistons of the threecylinders 52 to move in an eccentrically coupled phase, as required forthe planetary motor. The pressure waves are then sent to the motorthrough the ports 53.

The motor of the present invention is also safe to use for medicalapplications since it is electricity free and presents a small sizemaking it readily applicable for the construction of image-guided robotsto operate within the confined space of various imagers, includingclosed bore tunnel types. This technology could potentially have a broadimpact on the development of new image-guided motorized systems thatcould open new capabilities for diagnosis and treatment of prostatecancer and other diseases.

For example, this motor can be used for the construction of amulti-imager compatible robot for precise prostate access. Presently,prostate access for biopsy or therapy delivery can only be accomplishedmanually with or without the aid of template-like devices. A manualapproach has intrinsic inaccuracies and is associated with variabilityamong individual surgeons. A mechanism to precisely, repetitively, andreliably access the prostate is required to improve clinical outcome ofclassic procedures (i.e. biopsy, brachytherapy) and to create a basisupon which novel cancer therapies could be deployed and evaluated.

FIGS. 10A-10B show another of the preferred embodiments of the presentinvention. This embodiment is referred to herein as a planetary motor.It uses pneumatic/hydraulic pressure pulses to generate precise,backlash-free rotary motion. This motor differs from the previouslydescribed harmonic planetary motor by its exclusion of the harmonictransmission stage and the improved design of the planetary gear of thepresent embodiment.

As shown in the side and sectional views of FIGS. 10A and 10B, thecentral part of this embodiment is a cylinder body 29 presenting threeradial cylinders 30. Three diaphragm 31 pistons 32 are attached to thecylinder body with cylinder caps 33. Each cylinder 30 is pressurizedthrough a nozzle 34 linked to a port 35. The pistons 32 are attachedwith titanium screws 36 to a rigid planetary gear 37 engaging a ceramicinternal gear 38a which, in this embodiment, is the output of thismotor.

A cylindrical needle bearing 40 with ceramic rollers 41 and a plasticcage 42 supports the internal ceramic gear 38 within the ceramic case44. The motor is powered by a hydraulic commutation pump 46 similar tothe one previously described, fluid pressure waves being sequentiallyapplied on the three cylinders. These act on the pistons 32 and theplanetary gear 37 in a coupled motion about the cylinder body 29 thusengaging the internal gear 38a. The planetary gear 37 does not rotatebut translates on a circular trajectory about the cylinder body 29. Thegear 38a advances one tooth on each pressure cycle.

Although the foregoing disclosure relates to preferred embodiments ofthe invention, it is understood that these details have been given forthe purposes of clarification only. Various changes and modifications ofthe invention will be apparent, to one having ordinary skill in the art,without departing from the spirit and scope of the invention.

1. A motor comprising: a means for actuating a radial wave, said meanshaving an outer boundary surface that exhibits the actions of saidradial wave, said means also having a central axis from which saidradial wave action is directed, a deformable flexspline having an innersurface and a toothed outer surface, said flexspline coaxially alignedwith the central axis of said means and oriented such that flexsplineinner surface is proximate the outer boundary surface of said means,said flexspline toothed outer surface having a first specified number ofteeth, a circular spline having a toothed inner surface, said splinehaving an outer boundary surface and being coaxially aligned with saidcentral axis and oriented such that said spline toothed inner surface isproximate the toothed outer surface of said flexspline, said splineinner surface having a second specified number of teeth which isdifferent than said first specified number of teeth in said flexspline,wherein said means is operable so that the action of said radial wavecauses at least one of said deformed flexspline teeth to engage at apoint the toothed side of said circular spline in such a manner thatsaid engagement point passes as a wave around the inner perimeter ofsaid circular spine, said movement of said engagement point causing saidflexspline to rotate around said central axis.
 2. A motor as recited inclaim 1, wherein: said radial wave actuating means comprising acentrally located, rotatably mounted, elliptical ring having an outerboundary surface, a plurality of pistons, each having a piston cylinderand a rod extending from said cylinder, said pistons located proximatesaid spline outer surface and oriented so that said rods are radiallyaligned with respect to said central axis, each of said rods having anend that contacts a point on said ring outer surface, wherein saidpistons are sequentially operable so that the action of said rod ends onsaid ring causes said ring to rotate about its central axis in such amanner that at least one of said deformed flexspline teeth engages at apoint the toothed side of said circular spline in such a manner thatsaid engagement point passes as a wave around the inner perimeter ofsaid circular spine, said movement of said engagement point causing saidflexspline to rotate around said central axis.
 3. A motor as recited inclaim 2 wherein the teeth of said spline and flexspline are configuredso that the angular distance of said flexspline rotation for a singlerevolution of said ring is a function of the difference in saidspecified number of teeth in said flexspline and spline.
 4. A motor asrecited in claim 3 further comprising: an annular bearing having aninner and an outer race, wherein said inner race is proximate said ringouter surface and said outer race is proximate said flexspline innersurface, and wherein, with said bearing so situated, said piston rodends are contacting points on said bearing outer race.
 5. A motor asrecited in claim 1, wherein: said radial wave actuating means comprisinga centrally located platform having a center point and an outer boundarysurface, a flexible ring surrounding said platform, said ring having aninner and an outer surface, said ring coaxially aligned with saidplatform center point, a plurality of force applying means, each havinga fluid containing diaphragm and a force applying diaphragm surface,each of said means located in a spaced-out relationship around theperimeter of said platform and oriented so that said force applyingdiaphragm surface is radially aligned with respect to said platformcenter point, each of said force applying diaphragm surfaces contactinga point on said flexible ring inner surface.
 6. A motor as recited inclaim 5 wherein the teeth of said spline and flexspline are configuredso that the angular distance of said flexspline rotation for a singlecycle of the sequential operation of said force applying means is afunction of the difference in said specified number of teeth in saidflexspline and spline.
 7. A motor as recited in claim 1, wherein: saidradial wave actuating means comprising a centrally located fluidcontaining, flexible, wave generator ring having a center point and anouter boundary surface, wherein said ring capable of being deformed bythe movement of said contained fluid so that ring boundary surface takesthe form of an ellipse having a major and a minor axis, with said axisbeing capable of being caused to rotate around said ring center point byspecified movement of said contained fluid, wherein said wave generatorring being deformed by specified motion of contained fluid so that aportion of its outer, boundary surface contacts the inner surface ofsaid flexspline so as to cause said flexspline to deform in such amanner that at least one of said deformed flexspline teeth engages at apoint the toothed side of said circular spline in such a manner thatsaid engagement point passes as a wave around the inner perimeter ofsaid circular spine, said movement of said engagement point causing saidflexspline to rotate around said ring center point.
 8. A motor asrecited in claim 7 wherein the teeth of said spline and flexspline areconfigured so that the angular distance of said flexspline rotation fora single cycle of the rotation of said ellipse of said wave generatorring is a function of the difference in said specified number of teethin said flexspline and spline.
 9. A motor as recited in claim 7 whereinsaid wave generator ring having an inner membrane, a plurality ofspaced-apart, deformable lobes attached to said membrane, a plurality ofinflatable cylinders oriented so that one of said cylinders lies betweeneach of said spaced-apart lobes, wherein each of said lobes having adistal surface and wherein said distal surfaces configured so as togenerally form a segmented, circular, cylindrical, boundary surface thatis proximate said flexspline inner surface.
 10. A motor as recited inclaim 9 further comprising a plurality of fluid conduits that connectthe pairs of adjoining, inflatable cylinders that are located on theopposite sides of said segmented, circular, cylindrical, boundarysurface so that said connected cylinders can be simultaneously inflatedso as to cause an increase in the distance that separates the segmentsof said boundary surface of said adjoining lobes.
 11. A motor as recitedin claim 10 further comprising a pump for sequentially inflating saidpairs of adjoining, inflatable cylinders.
 12. A motor as recited inclaim 1, wherein: said radial wave actuating means comprising a centralring having an outer, boundary surface and a center point, a pluralityof diaphragm pistons, each having a fluid containing cavity, a diaphragmthat covers said cavity and a top action surface, said pistons beingmounted along the perimeter of said ring boundary surface so that saidaction surfaces move radially from said ring center point as the amountof fluid in said cavities is increased, a planetary gear having an innersurface and a toothed outer surface with a first specified number ofteeth, said planetary gear having a center point that coincides withsaid ring center point, a wave generator gear having an outer surfaceand a toothed inner surface and oriented such that said wave generatortoothed inner surface is proximate the toothed outer surface of saidplanetary gear, said wave generator gear having a second, specifiednumber of teeth which is different than said first specified number ofteeth in said planetary gear, and a ring bearing having an outer surfaceand an inner surface, said bearing inner surface being proximate saidwave generator gear outer surface.
 13. A motor as recited in claim 12wherein, by a specified flow of fluid through said pistons, the outerboundary surface of said planetary gear is so configured so as to becaused to move relative to said ring center point so that a portion ofsaid planetary gear outer surface contacts the inner surface of saidwave generator gear in such a manner that at least one of said planetarygear teeth engages at a point the toothed side of said wave generatorgear in such a manner that said engagement point passes as a wave aroundthe inner perimeter of said wave generator gear, said movement of saidengagement point causing said wave generator gear to rotate around saidring center point.
 14. A motor as recited in claim 13 wherein saidflexspline and spline so configured so that rotational motion of saidwave generator gear causes said flexspline to deform in such a mannerthat at least one of said deformed flexspline teeth engages at a pointthe toothed side of said circular spline in such a manner that saidengagement point passes as a wave around the inner perimeter of saidcircular spine, said movement of said engagement point causing saidflexspline to rotate around said ring center point.
 15. A rotary motorcomprising: a central ring having an outer, boundary surface and acenter point, a plurality of diaphragm pistons, each having a fluidcontaining cavity, a diaphragm that covers said cavity and a top actionsurface, said pistons being mounted along the perimeter of said ringboundary surface and configured so that said action surfaces moveradially from said ring center point as the amount of fluid in saidcavities is increased, a planetary gear having an inner surface and atoothed outer surface with a first specified number of teeth, saidplanetary gear having a center point that coincides with said ringcenter point, an inner gear having an outer surface and a toothed innersurface and oriented such that said inner gear toothed inner surface isproximate the toothed outer surface of said planetary gear, said innergear having a second, specified number of teeth which is different thansaid first specified number of teeth in said planetary gear, a ringbearing having an outer surface and an inner surface, said bearing innersurface being proximate said inner gear outer surface, wherein by aspecified flow of fluid through said pistons the outer boundary surfaceof said planetary gear is caused to move relative to said ring centerpoint so that a portion of said planetary gear outer surface contactsthe inner surface of said inner gear in such a manner that at least oneof said planetary gear teeth engages at a point the toothed side of saidinner gear in such a manner that said engagement point passes as a wavearound the inner perimeter of said inner gear, said movement of saidengagement point causing said inner gear to rotate around said ringcenter point.
 16. A method of providing a rotary motor: utilizing ameans for actuating a radial wave, said means having an outer boundarysurface that exhibits the actions of said radial wave, said means alsohaving a central axis from which said radial wave action is directed,utilizing a deformable flexspline having an inner surface and a toothedouter surface, said flexspline coaxially aligned with the central axisof said means and oriented such that flexspline inner surface isproximate the outer boundary surface of said means, said flexsplinetoothed outer surface having a first specified number of teeth,utilizing a circular spline having a toothed inner surface, said splinehaving an outer boundary surface and being coaxially aligned with saidcentral axis and oriented such that said spline toothed inner surface isproximate the toothed outer surface of said flexspline, said splineinner surface having a second specified number of teeth, wherein saidmeans is operable so that the action of said radial wave causes at leastone of said deformed flexspline teeth to engage at a point the toothedside of said circular spline in such a manner that said engagement pointpasses as a wave around the inner perimeter of said circular spine, saidmovement of said engagement point causing said flexspline to rotatearound said central axis.
 17. A method as recited in claim 16, whereinsaid radial wave actuating means comprising a central ring having anouter, boundary surface and a center point, a plurality of diaphragmpistons, each having a fluid containing cavity, a diaphragm that coverssaid cavity and a top action surface, said pistons being mounted alongthe perimeter of said ring boundary surface so that said action surfacesmove radially from said ring center point as the amount of fluid in saidcavities is increased, a planetary gear having an inner surface and atoothed outer surface with a first specified number of teeth, saidplanetary gear having a center point that coincides with said ringcenter point, a wave generator gear having an outer surface and atoothed inner surface and oriented such that said wave generator toothedinner surface is proximate the toothed outer surface of said planetarygear, said wave generator gear having a second, specified number ofteeth which is different than said first specified number of teeth insaid planetary gear, and a ring bearing having an outer surface and aninner surface, said bearing inner surface being proximate said wavegenerator gear outer surface.